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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-04 15:15:34 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-04 15:15:34 +0200 |
commit | f1715869d06da2882a7b2a499caaefcaabfa9fc4 (patch) | |
tree | b31eec305b0b47d4f83de44c51f498d1971d8125 | |
parent | 55cae08cf37c2a67f1ef357f205d2ee5e3208655 (diff) | |
parent | 5f786af8fa428c8ab684251310de6c3fbe795e8f (diff) | |
download | px4-firmware-f1715869d06da2882a7b2a499caaefcaabfa9fc4.tar.gz px4-firmware-f1715869d06da2882a7b2a499caaefcaabfa9fc4.tar.bz2 px4-firmware-f1715869d06da2882a7b2a499caaefcaabfa9fc4.zip |
Merge pull request #895 from PX4/hil_arming_fix
mavlink: Only sending HIL control commands if the system is actually armed
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..bef8a5a55 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -819,11 +819,11 @@ protected: void send(const hrt_abstime t) { - bool updated = status_sub->update(t); - updated |= pos_sp_triplet_sub->update(t); - updated |= act_sub->update(t); + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); - if (updated) { + if (updated && (status->arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; @@ -1353,7 +1353,7 @@ protected: uint8_t orientation = 0; uint8_t covariance = 20; - mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); } }; |